Concurrent design of a lower limb rehabilitation mechanism

Authors

  • José Saúl Muñoz Reina IPN
  • Miguel Gabriel Villarreal Cervantes Instituto Politécnico Nacional
  • Leonel German Corona Ramirez Instituto Politécnico Nacional
  • Robero Castro Medina Instituto Politécnico Nacional

DOI:

https://doi.org/10.29019/enfoqueute.v9n4.399

Keywords:

rehabilitation system, concurrent design, synthesis of mechanisms, design for control

Abstract

The rehabilitation given by robotic systems is a choice for minimizing the recovery time of a patient and boost their muscular and skeletal capacity on a limb damaged. However, the high cost of these systems limits patients to receive these kind of treatments. The systems of one degree of freedom are a low cost alternative to health care and rehab at home.

In this paper, the structural design of an 8-link mechanism for the rehabilitation of lower limbs is performed, based on the approach and solution of an optimization problem in which certain objectives are met, such as dimensional synthesis, and the minimizing of torque to make control easier.

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References

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Published

2018-12-21

How to Cite

Muñoz Reina, J. S., Villarreal Cervantes, M. G., Corona Ramirez, L. G., & Castro Medina, R. (2018). Concurrent design of a lower limb rehabilitation mechanism. Enfoque UTE, 9(4), pp. 57 - 68. https://doi.org/10.29019/enfoqueute.v9n4.399

Issue

Vol. 9 No. 4 (2018)

Section

Automation and Control, Mechatronics, Electromechanics, Automotive

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